To start, were not full timers, but it seems it would depend on what you'll be doing with the towed. We tow a Chevrolet Silverado 4-door, primarily because we still use a truck a lot at home and we carried an RZR in bed of our truck for a couple of years. I'm guessing as full timers, you won't really have the need for a truck. I doubt anything needing repair on your coach would require a truck to haul it. The only reason to have such a large vehicle is typically comfort.
I think a small SUV would be the best. Still comfortable enough to drive and would have the storage needed for shopping days. I think Jeeps are great tow vehicles, but I wouldn't want one unless it was a larger/newer model that was comfortable to drive, especially if it's your only vehicle.
Lastly, will you need something for just the two of you, or do your plans include transporting another couple occasionally.